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A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
Linköping University, Linköping SE-58183, Sweden. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9477-4044
2004 (English)In: IEEE transactions on fuzzy systems, ISSN 1063-6706, E-ISSN 1941-0034, ISSN 1063-6706/04, Vol. 12, no 4, p. 502-515Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved.

Place, publisher, year, edition, pages
2004. Vol. 12, no 4, p. 502-515
Keywords [en]
Fuzzy gain scheduling, output-feedback fuzzy control, Takagi–Sugeno fuzzy control, unmanned helicopter
National Category
Engineering and Technology Computer Sciences
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-39023DOI: 10.1109/TFUZZ.2004.832539OAI: oai:DiVA.org:oru-39023DiVA, id: diva2:766186
Funder
Knut and Alice Wallenberg FoundationAvailable from: 2014-11-26 Created: 2014-11-26 Last updated: 2018-01-11Bibliographically approved

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Driankov, Dimiter

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf